Yes, tractate Shabbos 32b declares that each Jew observant of the mitzvah of tzitzit (the fringes of the tallit) will merit 2800 non-Jews as slaves. Eruvin 43b declares that the Jewish Messiah can come on Shabbos eve because all (surviving) non-Jews will be made slaves to the Jews and thus help them prepare for Shabbos. Beyond the Talmud, former Israeli Chief Sephardic Rabbi Ovadia Yosef confirmed that non-Jews will be slaves to Jews when the Jewish Messiah gets here. He also stated that this was their intrinsic purpose and the only reason they will be granted a long (or eternal) life in the Messianic era. The Sefer Ha-Chinuch declares that Jews are the best of the human race and worthy of being served by slaves. Saadia Gaon declares that all non-Jews in the Messianic era will either serve as domestic slaves, city slaves, country slaves, or slaves living outside the land of Israel based on the Jewish interpretation of Isaiah. The best will get the position of greatest proximity to Jews.
Comments like the following are routine on Haredi websites:
"What's so hard to understand? After Moshiach, the nochrim [non-Jews] are going to clamor to serve. They will put themselves lying on the floor and beg the Evdei Hashem [slaves/servants of God] to use them as a stepping stool to walk into the Beis Medrash [Temple in Jerusalem], as we prepare to serve Hashem each morning."
http://www.theyeshivaworld.com/coffeeroom/topic/chilul-hashem-from-the-pulpit
As for the quote about killing non-Jews, I think that comes from tractate Sanhedrin of the Talmud. However, it should be stressed that there is an opinion expressed by another rabbi which disagrees with this harsh statement.
One person who answered your question says that non-Jews are considered human, but that is controversial in Orthodox Judaism. Read the next to last comment on this thread, which denies that non-Jews are considered "Adam" (i.e. man) unless they convert to Judaism:
http://matzav.com/abraham-foxman-and-adl-have-chutzpah-to-denigrate-chacham-ovadiah-yosef